Radar Wave Offset Detection and Adjustment for UAV Obstacle Avoidance
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Solution Overview
Problem
Existing radar systems on movable platforms, such as UAVs, face challenges in accurately detecting obstacles due to offsets caused by mounting errors, vibrations, and errors in attitude sensor measurements, leading to inaccurate obstacle detection angles.
Innovation Solution
A method and apparatus that involve receiving measurement data from radars, calculating angles, comparing them to reference angles to determine offsets, and adjusting obstacle detection angles to compensate for these offsets, using a processor to execute instructions and control the radar to scan the environment effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual measurement and adjustment of radar tilting is performed, then the radar position can be adjusted, but the measurement accuracy is insufficient leading to inaccurate obstacle detection
Solution Approach 1:
The patent replaces manual mechanical measurement methods with an automated electronic detection system. The processor automatically calculates radar wave offset angles by comparing detected object positions with expected positions, eliminating the need for manual level measurement and adjustment while significantly improving measurement precision.
Solution Approach 2:
The system performs self-calibration by automatically detecting objects, calculating offset angles, and adjusting radar scanning parameters without external intervention. The processor continuously monitors detection accuracy and autonomously compensates for mounting errors, making the system self-correcting and eliminating reliance on manual adjustment operations.
2Reliability
If thermal compensation with thermal-sensitive resistor is used in IMU, then temperature error can be compensated, but the compensation is ineffective during initial power-on and low temperature periods
Solution Approach 1:
The system performs preliminary calibration during the initial power-on phase by detecting objects and calculating offset angles before thermal compensation becomes effective. The processor stores these calibration data and uses them as baseline references, ensuring accurate obstacle detection from the very beginning of operation regardless of temperature conditions.
Solution Approach 2:
The system implements continuous feedback by constantly monitoring detection results and comparing actual object positions with expected positions. The processor dynamically adjusts radar scanning parameters based on real-time offset calculations, ensuring accurate compensation at all temperature stages including initial power-on and low temperature periods where thermal compensation is ineffective.
Data Source
AI summary
A method includes receiving first measurement data acquired by a radar based on radar signals reflected by a member of a movable device. The method also includes calculating an angle based on the first measurement data. The method also includes comparing the angle with a predetermined reference angle to obtain a difference. The method also includes adjusting an obstacle detection angle of the radar based on the difference. The method further includes causing the radar to scan an environment in the adjusted obstacle detection angle.